WO2022222908A1

WO2022222908A1 - Pallet apparatus, robot control method, apparatus, and system, robot, and medium

Info

Publication number: WO2022222908A1
Application number: PCT/CN2022/087582
Authority: WO
Inventors: 曾飞; 梁剑龙; 徐拓威; 刘建宝; 彭凯
Original assignee: 深圳市普渡科技有限公司
Priority date: 2021-04-20
Filing date: 2022-04-19
Publication date: 2022-10-27
Also published as: CN113199506A

Abstract

The present application discloses a pallet apparatus, a robot control method, apparatus, and system, a robot, and a readable storage medium. Provided is a pallet apparatus, which is used for loading onto a robot. The pallet apparatus comprises a pallet detection apparatus and multiple layers of pallet boards. Each layer of pallet boards comprises a plurality of placement regions used for placing items. The pallet boards are provided with prompters corresponding to each placement region. The prompters and the pallet detection apparatus are used for connecting to a control mainboard of the robot.

Description

Pallet device, robot control method, device, system, robot and medium

This application claims the priority of the Chinese patent application with the application number "202110426898.9" and the application name "Pallet Device, Robot Control Method, Device, System, Robot and Medium" filed with the China Patent Office on April 20, 2021, which The entire contents of this application are incorporated by reference.

technical field

The present application relates to the field of robotics, and in particular, to a pallet device, a robot control method, device, system, robot, and a readable storage medium.

Background technique

At present, in many occasions, it is often necessary to use pallets to support objects and use pallets, and use robots to transport items to each corresponding position. In order to improve the load rate of the pallets, each layer of pallets needs to be fully utilized, and a layer of pallets may include items from multiple users For example, taking food delivery in a restaurant as an example, in order to increase the load rate of tray food delivery during peak meal times, each layer of trays needs to be fully utilized. The problem is that a layer of trays may contain dishes from several tables of users, making it inconvenient for users to identify Your own dishes are prone to errors, and traditional solutions are not very practical.

SUMMARY OF THE INVENTION

The present application provides a tray device, a robot control method, device, system, robot, and a readable storage medium.

To solve the above problems, the following technical solutions are provided:

In a first aspect, a pallet device is provided for loading on a robot, the pallet device includes a pallet detection device and a multi-layer pallet board, wherein each layer of the pallet board includes a plurality of placement areas for placing items , the tray board is provided with a prompter corresponding to each of the placement areas, and the prompter and the tray detection device are used to connect to the robot control main board.

In a second aspect, a robot is provided, comprising the tray device according to any one of the foregoing first aspects.

A third aspect provides a robot control method, the method is applied to the robot described in the second aspect, and the method includes:

receiving a binding result, where the binding result includes the binding relationship between the placement area where the item is placed and the corresponding delivery location;

The robot is controlled to deliver items according to the binding result, wherein when the robot runs to the corresponding delivery position, the prompter in the placement area bound with the delivery position is controlled to prompt the item to be taken away.

In a fourth aspect, a robot control device is provided, the control device is applied to the robot of the aforementioned second aspect, and the control device includes:

a receiving module, configured to receive a binding result, where the binding result includes the binding relationship between the placement area where the item is placed and the corresponding delivery location;

The control module is used to control the robot to deliver the items according to the binding result, and when the robot runs to the corresponding delivery position, it controls the prompter in the placement area that has a binding relationship with the delivery position to prompt the item to be taken away .

A fifth aspect provides one or more computer-readable storage media storing computer-readable instructions, the computer-readable instructions implementing the following steps when executed by one or more processors:

In a sixth aspect, a robot control system is provided, including a host computer and a robot, and a control mainboard of the robot is used to implement the robot control method described in the second aspect.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the present application will be apparent from the description, drawings, and claims.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. , for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

1 is a schematic structural diagram of a tray device in an embodiment of the present application;

FIG. 2 is another schematic structural diagram of the tray device in an embodiment of the present application;

3 is another schematic structural diagram of the tray device in an embodiment of the present application;

4 is a schematic flowchart of a robot control method in an embodiment of the present application;

FIG. 5 is a schematic flowchart of a specific implementation manner in step S40 of FIG. 4;

FIG. 6 is a schematic structural diagram of a robot control device in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The present application provides a tray device, a robot control method, an apparatus, a system, a robot and a readable storage medium, which will be described in detail below.

In one embodiment, as shown in FIG. 1 , a pallet device is provided, which is used to be loaded on a robot to make the robot a delivery robot, and the pallet device includes a pallet detection device 2 and a multi-layer pallet board 3 . (Only one layer is shown in the figure), wherein each layer of the tray board includes a plurality of placement areas for placing items, and the tray board is provided with a prompter 4 corresponding to each of the placement areas, and the prompter 4 and the tray detection device 2 are used to connect to the control mainboard of the robot (the connection relationship with the control mainboard is not shown in the figure).

In this embodiment, the tray detection device 2 can be used to detect whether there is an item placed on each corresponding placement area. When the robot is transported to the corresponding position, a prompter can be used to give a corresponding prompt, which is convenient for users to identify their own items. It is more practical to solve the problem that users are not easy to identify items and are prone to errors.

Wherein, in some embodiments, the prompter of each placement area may be an LED light, such as an LED light bar or other forms of LED light, or may be other types of prompters, such as other light source prompters or prompting devices, specifically This application is not limited.

In one embodiment, the tray device further includes two side panels 1 , and the multi-layer tray panels 3 are located between the two side panels 1 . In other embodiments, the tray device may also include only one side plate 1, and the multi-layer tray plate 3 is disposed on the side plate 1, which is not limited here.

In one embodiment, the tray board 3 includes a main board body 31 and a baffle plate (not shown in the figure) arranged around the plate body. On each tray board, the outer edge of each placement area is arranged, and the LED light bar is arranged on a baffle plate arranged around the main board body. It should be noted that, in practical applications, the tray board 3 may also only include the main board body 31, and the LED lights may also be directly disposed on the edge side of the main board body 31, which is not specifically limited. It is worth noting that by setting the baffle, the items in the placement area can not easily slide to the ground, and it is also convenient to install the LED light bar, which further enhances the practicability.

In some embodiments, when it is detected that an item is placed in the placement area, the led light in the placement area can be controlled to display a green light, and the green light indicates that an item has been placed. When it is detected that no item is placed in the placement area, the placement area can be controlled. The led light shows red light, and the red light indicates that the item has not been placed. It should be noted that, this is only an exemplary description, and does not limit the present application.

Specifically, the tray detection device can be implemented in a variety of ways, which is not limited in the present application. In some embodiments of the present application, several embodiments are provided, which will be described separately below.

First, the tray detection device 2 includes a tray detection board and a time-of-flight sensor. The time-of-flight sensor is also a (Time of Flight, TOF) sensor. Combined with the embodiment of the above-mentioned tray board 2, in one embodiment, The tray detection boards are provided on both side boards, the tray detection boards are connected to the time-of-flight sensors corresponding to the adjacent placement areas, and the tray detection boards are also used to connect to the control main board of the robot. In this way, each placement area is provided with a corresponding time-of-flight sensor. Whether there is an item placed can be detected by the corresponding time-of-flight sensor, and the time-of-flight sensor can transmit the detection data to the tray detection board, so that the tray detection board can use the detection data to determine whether there is an item placed in the placement area.

As shown in FIG. 2, in combination with the above-mentioned first embodiment, in an example application scenario, the pallet board may specifically include area 1, area 2, area 3 and area 4, a total of four placement areas, wherein, area 1 and area In the area 3 is close to the side panel 11, the two

flight sensors

221 and 223 in area 1 and area 3 are located on the side panel 11 corresponding to the position of the tray detection board 211, and are respectively connected with the tray detection board 211; area 2 and area 4. Close to the other side panel 12, the two

flight sensors

222 and 224 in area 2 and area 4 are located on the side panel 12 at the corresponding positions of the tray detection panel 212, and are respectively connected with the tray detection panel 212. The outer edge baffles of the placement area are provided with corresponding LED light bars, the outer edge baffles of area 1 are provided with LED light bars 41, the outer edge baffles of area 2 are provided with LED light bars 42, and the outer edge baffles of area 3 are provided with LED light bars 42. The led light bar 43 and the outer edge baffle of the area 4 are provided with a led light bar 44 .

It can be seen that in this application scenario, a layer of pallet board can be divided into 4 placement areas, and each placement area corresponds to a time-of-flight sensor to detect items. If the time-of-flight sensor detects that the distance value belongs to the placement area, the placement area is determined. If there is an item, turn on the LED light bar in the placement area, otherwise it is determined that there is no item in the placement area and turn off the light bar in this area. For example, if the flight sensor 221 detects that the distance value of the item belongs to area 1, it is determined that there is an item in the placement area 1, and the LED light bar 41 set on the placement area 1 can be turned on. Other types of placement area processing methods are not described here.

In the second type, the tray detection device includes a tray detection plate and a piezoelectric film, the tray detection plates are arranged on both side plates, and a corresponding piezoelectric film is arranged on each of the placement areas, and the tray The detection board is also connected to the piezoelectric film arranged on the adjacent placement area, and the tray detection board is also used for connection to the control main board.

As shown in FIG. 3 , in combination with the above-mentioned second embodiment, in an example application scenario, the pallet board may specifically include area 1, area 2, area 3 and area 4 for four placement areas, wherein area 1 and area Area 3 is close to one side plate 11, area 1 and area 3 are respectively provided with

piezoelectric films

221 and 223.

Piezoelectric films

221 and 223 are respectively connected to the tray detection board 211, area 2 and area 4 are close to the other side. In the side plate 12, the

piezoelectric films

222 and 224 are respectively provided on the area 2 and the area 4. The piezoelectric film 222 and the piezoelectric film 224 are respectively connected to the tray detection board 212, and the outer edge side plates of each placement area are provided with Corresponding led light strips, the outer edge of area 1 is provided with led light bar 41, the outer edge of area 2 is provided with LED light bar 42, the outer edge of area 3 is provided with led light bar 43, and the outer edge of area 4 is provided with LED light bar 41. LED strips 44 are arranged on the sides.

It can be seen that in this application scenario, a layer of pallet board can be divided into 4 placement areas, and the upper surface of each placement area is provided with a corresponding piezoelectric film. If an item is placed on the placement area, the piezoelectric film can be detected. , so that it is determined that there is an item in the placement area, and the LED light bar in the placement area can be turned on, otherwise it is determined that there is no item in the placement area, and the light bar in the area is turned off. For example, if there is an item placed in the area 1, the piezoelectric film 221 can detect it, so that the LED light bar 41 provided on the placing area 1 can be turned on. Other types of placement area processing methods are not described here.

It should be noted that, in the embodiment of the present application, the number and shape of the placement areas on the tray board, FIG. 2 and FIG. 3 are only illustrative, and limit the embodiment of the present application. In addition, as shown in FIGS. 1-3 The appearance of the structure is only exemplary.

In addition, it should be noted that in addition to the piezoelectric film, other pressure sensors may also be used, which are not specifically limited in this application.

In other embodiments, the tray detection device includes a tray detection board and a millimeter wave detector, the tray detection board is connected to the millimeter wave detector corresponding to the placement area, and the tray detection board is further connected to the control main board. In this way, each placement area is provided with a corresponding millimeter wave detector. Optionally, the millimeter wave detector is used to detect the items in each placement area. Then, whether there are placed items in each placement area can be determined by corresponding The millimeter wave detector can detect the detection data, and the millimeter wave detector can transmit the detection data to the tray detection board, so that the tray detection board can use the detection data to determine whether there is an item placed in the placement area.

In an optional embodiment, the millimeter wave detector may be disposed on the side plate 1 . In comparison, the millimeter wave detector has the advantages of low cost, wide angle and high precision, and can effectively improve the detection efficiency.

In some embodiments, the embodiments of the present application also provide a robot loaded with the above-mentioned tray device, and the control main board of the robot is used in the tray detection device connected to the above-mentioned tray device, specifically, the examples shown in FIGS. 2 and 3 In the scene, the control board of the robot can be connected to the corresponding tray detection board, and the robot can be used as a delivery robot in various scenarios, for example, in a delivery scenario, at this time, the robot is a food delivery robot.

Based on the robot provided by the above embodiment, the embodiment of the present application also provides a robot control method. As shown in FIG. 4 , the method includes the following steps:

S10: The host computer receives the feedback data of the pallet device.

When items need to be delivered, the delivered items can be placed on the tray board of the tray device, and corresponding prompts can be made through the prompter in the placement area. In some embodiments, when it is detected that an item is placed in the placement area, the led light in the placement area can be controlled to display a green light, and the green light indicates that an item has been placed. When it is detected that no item is placed in the placement area, the placement area can be controlled. The led light shows red light, and the red light indicates that the item has not been placed.

When an item is placed, the tray detection device can detect the placement of the item on the tray, and feed back the data to the upper computer, and the upper computer can receive the feedback data fed back by the tray device through the tray detection device.

It should be noted that the host computer may be a host computer mounted on the top robot, or may be a machine with a separate host computer, which is not specifically limited in this application.

S20: The host computer receives the user's binding input operation, and responds to the operation to complete the binding relationship between the placement area on which the item is placed on the pallet and the corresponding delivery location.

The pallet device of the robot sends the feedback data carrying the information on the placement of the items to the upper computer through the pallet detection device, and the upper computer can continue to receive the user binding input operation, and respond to the operation to complete the placement of the items placed on the pallet board. The binding relationship between the region and the corresponding delivery location. In some application scenarios, the host computer can render a corresponding interface according to the feedback data. The interface can prompt which area of the tray is placed with the item. The user of the host computer can bind the item in the placement area to the delivery location to which the item needs to be delivered. to complete the binding process.

For example, taking food delivery as an example, the dishes placed in each placement area on the tray may belong to different tables. For example, the dish 1 placed in the tray board area 1 on the first layer belongs to table No. 1, and the tray board area on the first layer belongs to the table No. 1. The dish 2 placed in 2 belongs to the No. 2 table; the dish 3 placed in the second tray area 1 belongs to the No. 3 table, and the dish 4 placed in the second tray area 2 belongs to the No. 4 table. In the upper computer mode, bind the pallet board area 1 of the first layer with the table No. 1, and so on, to complete the binding relationship between all delivery positions and the pallet board placement area, and I will not give examples here. In addition, for the convenience of description and understanding, in the embodiments of the present application, the food delivery process will be continued as an example for description, but the present application is not limited.

S30: The control board receives a binding result fed back by the host computer, where the binding result includes a binding relationship.

S40: The control board controls the robot to perform item distribution according to the binding result, wherein when the robot runs to the corresponding distribution position, it controls the prompter in the placement area that is bound to the distribution position to carry out items waiting to be picked up Go prompt.

Since the control board of the robot is connected with the host computer, the robot can receive the binding result fed back by the host computer through the control board, and control the robot to deliver items according to the binding result. For example, since the first-layer pallet board area 1 and table No. 1 have been bound by the host computer, the robot can obtain the position information of table No. 1, and use the position information to run to table No. 1. When the robot arrives When the No. 1 table is used, the prompter in the area 1 of the tray board on the first layer bound to the No. 1 table will prompt the dishes to be taken away. The green light can be controlled to flash and display to remind the user to take the dishes, which is convenient for the user to identify his own items, solves the problem that the user is not easy to identify items and is prone to errors, and is more practical.

It should be noted that, in some embodiments, when the robot runs to the corresponding delivery position, the prompter corresponding to the bound placement area will prompt the item to be taken away, and the robot may also be controlled to give a voice assistant prompt to prompt the user The dishes are taken from the placement area where the green light is flashing, so that the user can accurately get the dishes he ordered, which improves the user's experience and speeds up the efficiency and accuracy of food delivery.

In one embodiment, as shown in FIG. 5 , in step S40 , that is, controlling the robot to perform item distribution according to the binding result, which specifically includes the following steps:

S41: The control board determines whether there are multiple delivery locations to be delivered according to the binding result.

S42: If there are multiple delivery locations to be delivered, the control mainboard determines a target delivery location from the multiple delivery locations.

S43: The control board controls the robot to run to the target delivery position.

For steps S41-S43, it can be understood that since there are multiple layers of pallet boards in the pallet device, and each pallet board includes multiple placement areas, there may be multiple dishes that need to be delivered during the same time period. At this time, the pallet boards may include Dishes from multiple tables, that is to say, there may be multiple locations to be delivered by the robot. After binding and the robot control board obtains the binding results, the binding results can be analyzed to determine whether there are multiple locations. delivery locations to be delivered.

When there is only one to-be-delivered location to be delivered, the control board directly controls the robot to run to the to-be-delivered location, and then controls the reminder of the bound placement area to prompt for picking up dishes.

When there are multiple delivery locations to be delivered, the control main board determines the target delivery location from the multiple delivery locations. Specifically, it can be configured according to the actual business scenario to determine the delivery priority. For example, in the food delivery scenario, the delivery time can be considered in consideration of the user's order time, so as to determine a target delivery that needs to be delivered first from the multiple locations to be delivered. Location. For example, if the dishes on the tray board have the dishes ordered by table 1, and the order time of table 1 is earlier than that of other tables, then table 1 will be determined as the priority delivery position, and then the control board will control the order first. The robot runs to the No. 1 table, and prompts the user to take dishes through the prompter in the area 1 of the first-layer tray board bound to the No. 1 table.

In one embodiment, after step S43, that is, after controlling the robot to run to the target delivery position, the method further includes the following steps:

S44: The control board judges whether the items on the pallet are wrongly taken.

S45: When it is determined that the items on the pallet are taken by mistake, the control mainboard controls the robot to output a voice prompt for incorrect item picking and/or controls a prompter in the wrongly picked placement area to prompt the item to be taken off.

For steps S44-S45, continuing to take the above example as an example, after controlling the robot to run to the No. 1 table and prompting the user to pick up dishes through the prompter in the first-layer tray board area 1 bound to the No. 1 table, determine Whether the dishes on the tray plate are wrongly taken by the user, specifically, all dishes on the current tray plate can be detected by the tray detection device, and compared with the original dishes, so as to find out the dishes that have been taken away. The dish taken away can be judged whether it is the first-layer tray board area 1 or not. If not, it means that the user at table No. 1 took the wrong dish. If so, it means that the user at table No. 1 successfully took the desired dish. .

Combined with the specific implementation of the above-mentioned tray detection device, the present application can perform detection through a pressure film, a time-of-flight sensor, or a millimeter wave detector to determine whether the dishes on the tray plate are wrongly taken by the user. Specifically, after being transported to the target delivery location, the detection information obtained by the real-time detection of the pressure sensor or the time-of-flight sensor is obtained; the current placement area of the removed items on the pallet is determined by the detection information; the current pallet is judged Whether the placement area of the removed items on the board is the binding placement area corresponding to the target delivery location; if so, it is determined that the items on the pallet have been taken incorrectly; if not, it is determined that the pallet board The item on it was not picked up by the user by mistake. For example, through the detection information, it can be determined that the user at table No. 1 has taken the dishes in the area 1 of the tray board on the first layer at this time. The first-layer pallet board area 1 bound to the No. 1 table is a consistent placement area, which means that the user of No. 1 table has not taken the wrong item. On the contrary, if it is detected that the user of No. 1 table has taken the third-layer pallet board area 1 The dishes of table 1 are inconsistent with the placement area bound to table 1, indicating that the user of table 1 took the wrong dishes.

It should be noted that, when it is determined that the user has taken the wrong dish on the tray, the mainboard is controlled to control the robot to output a voice prompt for taking the wrong dish, and/or the prompter of the wrong placement area that the user has taken is controlled. When the item is taken away, for example, the user at table No. 1 should have taken the dish from the first pallet area 1. When the dish in the second pallet area 2 is taken away, the second pallet area 2 The prompter can flash red light and control the robot to give voice prompts to remind the user to take the wrong dish.

In some embodiments, a timer may be set, and the timing duration of the timer may be 30 seconds, 1 minute, etc., and the specific duration is not limited. After controlling the robot to run to the target delivery position, because the user may Due to individual reasons, there is no time to respond to the robot's prompt for picking up dishes. Therefore, the timer can be started by controlling the robot to run to the target delivery position. When the timer reaches the time period, the above step S44 is executed, which further improves the performance of the robot. User experience, to avoid users not currently getting the dishes they ordered.

In one embodiment, the method further includes the following steps:

S46 : when it is determined that the items on the tray board are not taken by mistake, the control mainboard controls the prompter in the placement area of the items to be removed to prompt the items to be removed.

For example, when the user at table No. 1 successfully takes away the desired dish, that is, the dish in area 1 of the tray board on the first floor, it will be determined that the dish on the tray board was not taken by the user by mistake, because the user did not take the wrong dish. , indicating that the first-layer pallet board area 1 has been removed, and the control motherboard controls the prompter in the first-layer pallet board placement area 1 to indicate that the item has been removed, such as directly turning off the LED light in the first-layer pallet board area 1.

In one embodiment, after it is determined that the items on the pallet are not wrongly picked up, the method further includes the following steps:

S47: Select the next location to be delivered from the multiple delivery locations for delivery until all the items on the pallet are delivered or a return instruction is received.

S48: When all the items on the pallet have been delivered or a return instruction is received, control the robot to run to a preset return location and wait.

For example, when the tray board area 1 on the first floor is successfully taken away by the user at table 1, it means that the dishes for the user at table 1 have been delivered, and the robot can deliver the next table. Select the next location to be delivered from the delivery locations for delivery. For example, if table No. 2 is determined for delivery, the delivery process of table No. 2 is similar to the process described above for delivery of table No. 1, and the description will not be repeated here. All items have been delivered or a return instruction has been received.

It should be noted that when starting to deliver the next table, it is necessary to ensure that all the items in the target delivery location are delivered, and then the next location to be delivered will be selected from the multiple delivery locations for delivery. Determine whether all the items in the placement area bound to the target delivery location have been taken away; after judging that the user has taken away all the items in the placement area bound to the target delivery location, select all the items from the multiple delivery locations Select the next location to be delivered for delivery until all items on the pallet are delivered or a return instruction is received; for example, when table 1 has dishes in multiple placement areas, it is determined that all dishes on table 1 have been taken After leaving, the next location to be delivered will be selected from the multiple delivery locations for delivery.

It can be understood that in the process of controlling the delivery of the robot, a return command can be sent to the robot in real time, so that the robot interrupts the delivery process during the delivery process, and responds to the return command to run to the preset return location and wait, so that the robot manager can maintain or wait. Strain the actual delivery situation.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

It should be noted that the above-mentioned control mainboard may be a mainboard embedded in the robot, or may be an external control mainboard, which is not specifically limited here.

In an embodiment, a robot control system is also provided, including a host computer and a robot, and the control board of the robot is used to implement the robot control method described in the foregoing embodiment. It should be noted that, in a specific application scenario, the host computer can be integrated with the robot, which is not specifically limited.

In one embodiment, a robot control device is provided, and the robot control device is applied to the robot described in the foregoing embodiment, and the robot control device corresponds to the robot control method in the foregoing embodiment one-to-one. As shown in FIG. 6 , the robot control device can be applied to the control board of the robot, and the robot control device includes a receiving module 101 and a control module 102 . The detailed description of each functional module is as follows:

The receiving module 101 is configured to receive a binding result, where the binding result includes the binding relationship between the placement area on the pallet board where the item is placed and the corresponding delivery location;

The control module 102 is configured to control the robot to carry out item distribution according to the binding result, and when the robot runs to the corresponding distribution position, control the prompter in the placement area that has a binding relationship with the distribution position to carry out the item to be taken away hint.

In one embodiment, the control module is specifically used for:

According to the binding result, determine whether there are multiple delivery locations to be delivered;

When there are multiple delivery locations to be delivered, determining a target delivery location from the multiple delivery locations;

Control the robot to run to the target delivery position.

In one embodiment, the control module is also specifically used for:

judging whether the items on the pallet board are taken by mistake;

When it is determined that the items on the tray board are taken by mistake, the robot is controlled to output a voice prompt for incorrectly taken items and/or a prompter in the placement area where the items are taken incorrectly is controlled to prompt the items to be taken off.

In one embodiment, the control module is also specifically used for:

Acquiring detection information obtained by real-time detection by the pressure sensor or time-of-flight sensor or millimeter wave detector;

Determine the current placement area of the item to be taken on the pallet by using the detection information;

Judging whether the current placement area of the item to be taken on the pallet is the placement area bound to the target delivery location;

If so, it is determined that the items on the pallet are wrongly picked;

If not, it is determined that the items on the pallet are not wrongly picked.

In one embodiment, the control module is also specifically used for:

When it is determined that the items on the tray plate are not taken by mistake, the prompter that controls the placement area of the items to be removed will prompt the items to be removed.

In one embodiment, the control module is also specifically used for:

Determine whether all the items in the placement area bound to the target delivery location have been taken away;

When it is determined that all the items in the placement area bound to the target delivery position have been taken away, the next position to be delivered is selected from the multiple delivery positions for delivery until all items on the pallet are delivered or Receive a return command;

When all the items on the pallet have been delivered or a return instruction is received, the robot is controlled to run to a preset return location and wait.

The above-mentioned embodiment provides a robot control device, which can be applied to a control board of a robot, thereby realizing a function corresponding to a robot control method. The tray detection device can be used to detect whether there is an item placed on each corresponding placement area. , When the robot is transported to the corresponding position, the prompter can be used to give corresponding prompts, which is convenient for users to identify their own items, solves the problems that users are not easy to identify items and easy to make mistakes, and is more practical.

For the specific limitations of the robot control device, reference may be made to the limitations on the robot control method above, which will not be repeated here. Each module in the above-mentioned robot control device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the control board in the robot in the form of hardware, or stored in the memory in the control board in the form of software, so that the control board can call and execute the operations corresponding to the above modules.

In one embodiment, a robot is provided that includes a control board, memory, and a network interface connected through a system bus. Among them, the control board of the robot is used to provide computing and control capabilities through the processor. The memory of the robot includes a readable storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The operating system and the computer program in the internal memory storage medium provide an environment for execution. The network interface of the robot is used to connect and communicate with the external host computer. When the computer program is executed by the controller controlling the mainboard, the content on the mainboard side in the control method for a robot in the foregoing embodiment is realized.

In one embodiment, a host computer is provided, and the host computer includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the upper computer is used to provide computing and control capabilities. The memory of the upper computer includes a readable storage medium and an internal memory. The readable storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The network interface of the upper computer is used to communicate with the control board of the robot through the network connection. When the computer program is executed by the processor, the content on the host computer side in the method for controlling a robot in the foregoing embodiment is realized.

In one embodiment, a robot is provided, including a control board, the control board includes a memory, and a computer program stored on the memory and running on a processor, the processor implements the following steps when executing the computer program:

Receive a binding result, where the binding result includes the binding relationship between the placement area where the item is placed on the pallet board and the corresponding delivery location;

The robot is controlled to deliver items according to the binding result, wherein when the robot runs to the corresponding delivery position, the prompter corresponding to the bound placement area prompts the item to be taken away.

In one embodiment, there is provided one or more computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, implement the following steps:

In one embodiment, the computer-readable instructions, when executed by one or more processors, embody the steps of the robot control method according to any one of claims 8 to 13 .

In an embodiment, a robot control system is also provided, the system includes a host computer and a robot, and the control mainboard of the robot is used to implement the steps of controlling the mainboard side in the robot control method described in the foregoing embodiment.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims

A pallet device for loading on a robot, the pallet device includes a pallet detection device and a multi-layer pallet board, wherein each layer of the pallet board includes a plurality of placement areas for placing items, and the pallet board is provided with There is a prompter corresponding to each of the placement areas, and the prompter and the tray detection device are used to connect to the control board of the robot.
The tray device according to claim 1, wherein the tray detection device comprises a tray detection board and a flight time sensor, the tray detection board is connected to the flight time sensor corresponding to the placement area, and the tray detection board is also used for connecting to the control board.
The tray device according to claim 1, wherein the tray detection device comprises a tray detection plate and a pressure sensor, a corresponding pressure sensor is arranged on each of the placement areas, and the tray detection plate is further connected to an adjacent placement area On the arranged pressure sensor, the tray detection board is also used for connecting to the control main board.
The tray device according to claim 1, wherein the tray detection device comprises a tray detection board and a millimeter wave detector, the tray detection board is connected to the millimeter wave detector corresponding to the placement area, and the tray detection board is further used for connected to the control board.
The tray device according to any one of claims 1-4, wherein the prompter is an LED light.
The tray device according to claim 5, wherein the tray board comprises a main board body and a baffle plate arranged around the main plate body, and the LED lights are arranged on the baffle plate.
A robot comprising the tray device according to any one of claims 1-6.
A robot control method, the method is applied to the robot as claimed in claim 7, the method comprises:

receiving a binding result, where the binding result includes the binding relationship between the placement area where the item is placed and the corresponding delivery location;

The robot is controlled to carry out item distribution according to the binding result, wherein when the robot runs to the corresponding distribution position, the prompter in the placement area that has a binding relationship with the distribution position is controlled to prompt the item to be taken away.
The robot control method according to claim 8, wherein controlling the robot to perform item distribution according to the binding result comprises:

According to the binding result, determine whether there are currently multiple delivery locations to be delivered;

When there are multiple delivery locations to be delivered, determining a target delivery location from the multiple delivery locations;

Control the robot to run to the target delivery position.
The robot control method according to claim 9, after the robot is controlled to run to the target delivery position, the method further comprises:

judging whether the items on the pallet board are taken by mistake;

When it is determined that the items on the tray board are taken by mistake, the robot is controlled to output a voice prompt for incorrectly taken items and/or a prompter in the placement area where the items are taken incorrectly is controlled to prompt the items to be taken off.
The robot control method according to claim 10, wherein the judging whether the items on the pallet board are taken by mistake comprises:

Acquiring detection information obtained by real-time detection by the pressure sensor or time-of-flight sensor or millimeter wave detector;

Determine the current placement area of the item to be taken on the pallet by using the detection information;

Determine whether the current placement area of the item to be removed on the pallet is the placement area bound to the target delivery location;

If so, it is determined that the items on the pallet are wrongly picked;

If not, it is determined that the items on the pallet are not wrongly picked.
The robot control method of claim 10, further comprising:

When it is determined that the items on the tray plate are not taken by mistake, the prompter that controls the placement area of the items to be removed will prompt the items to be removed.
The robot control method according to claim 12, after it is determined that the items on the pallet are not wrongly picked up, the method further comprises:

Determine whether all the items in the placement area bound to the target delivery location have been taken away;

When it is determined that all the items in the placement area bound to the target delivery position have been taken away, the next position to be delivered is selected from the multiple delivery positions for delivery until all items on the pallet are delivered or Receive a return command;

When all the items on the pallet have been delivered or a return instruction is received, the robot is controlled to run to a preset return location and wait.
A robot control device, the device being applied to the robot as claimed in claim 7, the control device comprising:

a receiving module, configured to receive a binding result, where the binding result includes the binding relationship between the placement area where the item is placed and the corresponding delivery location;

The control module is used to control the robot to deliver the items according to the binding result, and when the robot runs to the corresponding delivery position, it controls the prompter in the placement area that has a binding relationship with the delivery position to prompt the item to be taken away .
One or more computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, implement the steps of the robot control method of any one of claims 8 to 13.
A robot control system includes a host computer and a robot, and the control board of the robot is used to implement the robot control method according to any one of claims 8-13.